version: 66.12
glider: 187
mission: 4
dive: 148
start: 7 22 114 0 21 3
data:
$ID,187
$MISSION,4
$DIVE,148
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1593596.9
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,220714,001637,4717.579,-12626.766,11,1.5,11,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.6
$GPS2,220714,002037,4717.581,-12626.811,12,1.5,12,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,194.6,53079,-14.0,-7.333,-18.81,2445
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.59,-116.8,387,2412,551,424,0.0,0.0,0,120,0.00,0.00,-88.22,0.000,16386,0.000,0.000,390,2412,2848,2906,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.59,-116.8,390,2412,2907,2792,3.2,-2.7,9,160,12.25,2.45,-9.73,0.000,18692,0.394,0.112,3124,3801,3336,3386,3287,0,0,0,0,0,0,14.35,14.53,14.76
$GC,341,-0.59,-116.8,3124,3801,3386,3289,44.7,-12.9,31,350,0.00,2.30,0.00,0.000,1030,0.000,0.062,3124,2406,3338,3387,3289,0,0,0,0,0,0,28.83,14.60,28.83
$GC,592,-0.59,-116.8,3129,2403,3386,3290,74.6,-11.3,56,599,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2403,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,841,-0.59,-116.8,3125,2403,3388,3290,102.9,-11.3,81,849,0.00,2.38,0.00,0.000,516,0.000,0.075,3125,982,3338,3386,3290,0,0,0,0,0,0,28.83,14.62,28.83
$GC,984,-0.59,-116.8,3126,982,3387,3290,118.6,-10.8,95,993,0.00,2.38,0.00,0.000,1030,0.000,0.072,3125,2399,3336,3387,3285,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1233,-0.59,-116.8,3125,2399,3387,3287,144.0,-10.2,120,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3337,3387,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1483,-0.59,-116.8,3130,2398,3387,3285,168.4,-9.5,145,1491,0.00,2.42,0.00,0.000,260,0.000,0.092,3124,3824,3334,3383,3285,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1563,-0.59,-116.8,3125,3824,3385,3282,176.3,-10.0,153,1571,0.00,2.35,0.00,0.000,1030,0.000,0.064,3124,2390,3335,3385,3285,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1813,-0.59,-116.8,3125,2391,3384,3282,199.4,-9.6,178,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2391,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2064,-0.59,-116.8,3130,2391,3382,3279,223.0,-9.0,203,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3331,3383,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,-0.59,-116.8,3130,2391,3381,3277,245.4,-8.8,228,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2390,3329,3382,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,-0.59,-116.8,3130,2391,3380,3275,269.0,-8.8,241,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3328,3382,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,-0.59,-116.8,3124,2391,3382,3271,295.1,-8.5,251,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2391,3325,3379,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3183,-0.59,-116.8,3125,2391,3378,3269,320.3,-8.5,261,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2391,3323,3378,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3483,-0.59,-116.8,3125,2390,3376,3268,346.4,-8.5,271,3490,0.00,2.35,0.00,0.000,516,0.000,0.086,3125,1003,3321,3376,3267,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3552,-0.59,-116.8,3125,1005,3376,3265,352.7,-9.4,278,3561,0.00,2.40,0.00,0.000,1030,0.000,0.080,3124,2413,3321,3375,3267,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3875,-0.59,-116.8,3125,2413,3374,3264,380.6,-8.8,290,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2413,3319,3374,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,-0.59,-116.8,3130,2413,3373,3264,407.0,-8.7,300,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2412,3319,3373,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-0.59,-116.8,3124,2413,3372,3263,433.0,-8.7,310,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2413,3317,3372,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.59,-116.8,3125,2412,3371,3261,458.4,-8.5,320,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2414,3317,3371,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-0.59,-116.8,3125,2413,3371,3257,483.6,-8.1,330,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2413,3314,3371,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5373,-0.59,-116.8,3125,2413,3370,3256,507.9,-8.1,340,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2413,3316,3376,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5673,-0.59,-116.8,3125,2410,3370,3254,532.2,-8.2,350,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2413,3311,3369,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,-0.59,-116.8,3125,2413,3369,3253,556.6,-8.0,360,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2413,3311,3369,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6273,-0.59,-116.8,3125,2413,3374,3249,580.8,-8.0,370,6281,0.00,2.42,0.00,0.000,516,0.000,0.089,3122,1004,3310,3368,3253,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6332,-0.59,-116.8,3125,1003,3368,3253,585.9,-8.6,376,6340,0.00,2.40,0.00,0.000,1030,0.000,0.086,3125,2401,3310,3368,3252,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6666,-0.59,-116.8,3125,2401,3367,3258,611.5,-7.5,389,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3309,3367,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6963,-0.59,-116.8,3124,2401,3366,3251,632.8,-6.9,399,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3308,3366,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,-0.59,-116.8,3125,2401,3364,3250,652.8,-6.7,409,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3307,3365,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,-0.59,-116.8,3124,2401,3365,3249,674.0,-7.1,419,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3306,3365,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,-0.59,-116.8,3125,2401,3364,3247,696.1,-7.4,429,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3306,3365,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8164,-0.59,-116.8,3125,2399,3364,3247,719.5,-7.8,439,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2402,3306,3364,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8463,-0.59,-116.8,3125,2398,3364,3246,742.6,-7.6,449,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3305,3364,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8763,-0.59,-116.8,3125,2401,3363,3246,765.4,-7.6,459,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2399,3304,3363,3246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9063,-0.59,-116.8,3125,2401,3363,3244,788.5,-7.7,469,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2401,3304,3363,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9363,-0.59,-116.8,3125,2401,3363,3243,811.2,-7.5,479,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2401,3303,3363,3244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9663,-0.59,-116.8,3125,2401,3362,3242,833.2,-7.4,489,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3302,3362,3243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9963,-0.59,-116.8,3125,2401,3362,3242,854.2,-6.8,499,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3302,3362,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10263,-0.59,-116.8,3125,2401,3363,3242,874.4,-6.6,509,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3302,3362,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10563,-0.59,-116.8,3125,2401,3362,3242,893.9,-6.4,519,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3304,3362,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10863,-0.59,-116.8,3124,2401,3362,3241,912.1,-6.1,529,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3301,3362,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11163,-0.59,-116.8,3125,2402,3361,3241,930.6,-6.2,539,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3301,3361,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11463,-0.59,-116.8,3125,2401,3360,3240,948.5,-6.0,549,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3303,3367,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11763,-0.59,-116.8,3124,2401,3361,3240,965.9,-5.6,559,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3300,3360,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12063,-0.59,-116.8,3125,2399,3360,3240,982.1,-5.4,569,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3299,3359,3240,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12209,begin apogee
$GC,12218,-0.25,0.0,3125,2337,3360,3239,990.3,-5.4,574,12317,0.35,0.00,94.15,1.926,10246,0.203,0.000,3232,2340,2858,2935,2782,0,0,0,0,0,0,14.45,28.83,13.32
$STATE,12321,end apogee,CONTROL_FINISHED_OK
$STATE,12321,begin climb
$GC,12324,0.59,116.8,3232,2336,2933,2778,992.4,0.0,577,12441,0.88,0.00,108.10,1.883,10246,0.151,0.000,3507,2336,2383,2525,2241,0,0,0,0,0,0,13.95,28.83,13.16
$GC,12723,0.59,116.8,3507,2336,2523,2230,960.3,9.5,591,12733,0.00,2.53,0.00,0.000,516,0.000,0.103,3508,932,2376,2522,2230,0,0,0,0,0,0,28.83,14.23,28.83
$GC,12772,0.59,116.8,3508,932,2522,2230,955.5,9.3,596,12783,0.00,2.47,0.00,0.000,1030,0.000,0.090,3514,2334,2376,2522,2230,0,0,0,0,0,0,28.83,14.28,28.83
$GC,13086,0.59,116.8,3508,2332,2522,2233,927.0,8.8,607,13096,0.00,2.50,0.00,0.000,260,0.000,0.108,3508,3739,2376,2521,2232,0,0,0,0,0,0,28.83,14.39,28.83
$GC,13146,0.59,116.8,3508,3739,2520,2228,920.8,10.1,613,13156,0.00,2.45,0.00,0.000,1030,0.000,0.087,3508,2342,2374,2520,2228,0,0,0,0,0,0,28.83,14.40,28.83
$GC,13476,0.59,116.8,3508,2342,2520,2227,891.7,8.6,626,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2342,2371,2520,2222,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25569,end climb,SURFACE_DEPTH_REACHED
$STATE,25569,begin surface coast
$FINISH,1.0,1.023036
$STATE,25611,end surface coast,CONTROL_FINISHED_OK
$STATE,25614,begin surface
$SM_CCo,25641,11.70,0.103,0,0,1328,375.06
$SM_GC,3.23,9.23,2.35,11.70,0.076,0.073,0.103,398,2410,1328,-9.10,0.99,375.06,0,0,0,0,0,0,14.35,14.38,14.36
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$TT8_MAMPS,0.024717,0.024717
$HUMID,49.33
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3890656
$PM_FREEKB,58489312
$24V_AH,13.2,34.447
$10V_AH,13.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.900,102.550,369.300,11.700,0.000,0.000,0.000,0.000,0.000,0.000,15.022,3241.167,18740.320,643.947,2484.115,628.044,0.000,2099.050,0.000,2024.740,0.000,0.538,0.000
$DEVICE_MAMPS,393.975,216.495,1926.270,103.275,0.000,0.000,0.000,0.000,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25584.000,12512.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.834,4.042,0.000,0.000
$MEM,290788
$DATA_FILE_SIZE,46614,1338
$CAP_FILE_SIZE,302564,0
$CFSIZE,260034560,243744768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,32276.69,0x2378ba,7,5
$CURRENT,0.066,339.2,1
$GPS,220714,073035,4716.118,-12629.568,62,1.1,67,18.6